CN104148932A - Four-freedom-degree adjusting device used for butt joint of sections of rocket - Google Patents
Four-freedom-degree adjusting device used for butt joint of sections of rocket Download PDFInfo
- Publication number
- CN104148932A CN104148932A CN201410387952.3A CN201410387952A CN104148932A CN 104148932 A CN104148932 A CN 104148932A CN 201410387952 A CN201410387952 A CN 201410387952A CN 104148932 A CN104148932 A CN 104148932A
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- CN
- China
- Prior art keywords
- guide rail
- support
- adjusting device
- arc
- rocket
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
Abstract
The invention provides a four-freedom-degree adjusting device used for butt joint of sections of a rocket. The four-freedom-degree adjusting device comprises first guide rails, beams transversely arranged on the first guide rails and capable of moving along the first guide rails, a lifting table, a bracket support and an arc-shaped bracket used for supporting the sections of the rocket. The lifting table is fixed to the beams through a lifting mechanism, the bracket support is installed on the table surface of the lifting table and can move in the direction perpendicular to the first guide rails under drive of a vertical moving mechanism, the upper end of the bracket support is of an arc-shaped structure matched with the arc-shaped bracket and used for supporting the arc-shaped bracket, and the arc-shaped bracket can rotate around a coordinate axis parallel with the direction of the first guide rails under drive of a rotary mechanism. The four-freedom-degree adjusting device used for butt joint of the sections of the rocket is easy to operate, saves time and labor and greatly improves butt joint efficiency of components of the rocket.
Description
Technical field
The invention belongs to mechanical assembling field, especially relates to a kind of four-degree-of-freedom adjusting device for the section docking of rocket portion.
Background technology
Now rocket portion section, taking artificial docking mode as main in docking operation, manually promotes dolly and realizes rocket portion section and move along central shaft, realizes rocket portion section radially move by hand operation.This assembly method causes all needing could grasp its docking feature after repetition test docking for each rocket portion section in actual docking, finally relies on many people coordinated manipulation and completes final docking.This mode poor operability, stability is low, and assembly precision too much relies on Field Force's experience and skilled operation degree, and can affect the quality of rocket portion section docking assembling, affects operating efficiency.
Summary of the invention
The problem that the invention will solve is to provide a kind of merging precision and joint quality that can improve rocket portion section, the four-degree-of-freedom adjusting device for the section docking of rocket portion of increasing work efficiency.
For solving the problems of the technologies described above, the technical scheme that the invention adopts is: a kind of four-degree-of-freedom adjusting device for the section docking of rocket portion is provided, comprise that the first guide rail, crossbearer are in the first guide rail and the crossbeam that can move along the first guide rail, lifting platform, support bracket support with for supporting the arc-shaped bracket of rocket portion section, the plane of motion of described crossbeam is horizontal plane
Described lifting platform is fixed on described crossbeam by elevating mechanism, described support bracket support is arranged on the table top of described lifting platform, described support bracket support is driven by vertical movement mechanism can be along moving perpendicular to the direction of the first guide rail, the plane of motion of described support bracket support is vertical with horizontal plane, described support bracket support upper end is the arcuate structure matching with described arc-shaped bracket, be used for supporting described arc-shaped bracket, described arc-shaped bracket is driven by slew gear can be around rotating with the reference axis parallel with the first guide rail moving direction.
Further, described crossbeam both sides are provided with guide rail wheel, and guide rail wheel drives crossbeam to move along described the first guide rail.
Further, described elevating mechanism is fork type elevator or worm and gear lift or realizes by cylinder.
Further, described elevating mechanism is worm and gear lift, is driven by handwheel or motor.
Further, described vertical movement mechanism is screw-nut structure, travelling nut is fixed on a side of described support bracket support, this side is all vertical with horizontal plane with described the first guide rail, mobile leading screw is threaded with travelling nut, mobile leading screw is fixed on described lifting platform table top by fixed support, and mobile leading screw is driven by handwheel or motor.
Further, described support bracket support has shifting roller, on described lifting platform table top, is provided with the second guide rail perpendicular to the first guide rail, and the second guide rail place plane is parallel with horizontal plane, and support bracket support moves on described the second guide rail by shifting roller.
Further, described slew gear is screw-nut structure, the bottom of described arc-shaped bracket is provided with Y-piece, described Y-piece one end and described arc-shaped bracket bottom surface are connected, the other end is provided with the opening being made up of two fork bodies, rotary nut is located in described opening movably, revolution leading screw is threaded with rotary nut, one end of described revolution leading screw is connected with described support bracket support bottom surface, the other end is connected with the side of described support bracket support, the opposite face that this side is side that travelling nut connects, revolution leading screw is driven by handwheel or motor.
Further, two fork body inner sides of described Y-piece are provided with the 4th guide rail, and described rotary nut can move along the 4th guide rail by bayonet lock, and moving direction is consistent with the bearing of trend of two fork bodies of described Y-piece, and bayonet lock matches with the 4th guide rail.
Further, described arc-shaped bracket bottom is provided with support roller, and the arcuate structure of described support bracket support upper end is provided with the 3rd guide rail perpendicular to the first guide rail, and arc-shaped bracket moves along described the 3rd guide rail.
Advantage and beneficial effect that the invention has are: crossbeam is arranged at the first guide rail by the four-degree-of-freedom adjusting device for the section docking of rocket portion of the invention, on it, be provided with elevating mechanism, vertical movement mechanism and slew gear, can change the position of rocket part by adjusting these mechanisms, in the time of docking rocket part, can on four direction, adjust arbitrarily rocket part, and simple to operate, time saving and energy saving, greatly improve the efficiency of rocket part docking operation.
Brief description of the drawings
Fig. 1 is the structural representation of the invention;
Fig. 2 is the partial structurtes schematic diagram of the invention.
In figure: 1, worm and gear lift; 2, lift handwheel; 3, lifting platform; 4, support bracket support; 5, shifting roller; 6, turnstile; 7, arc-shaped bracket; 8, forked frame; 9, rotary nut; 10, bayonet lock; 11, revolution leading screw; 12, support roller; 13, travelling nut; 14, mobile leading screw; 15, translation handwheel; 16, crossbeam; 17, guide rail wheel; 18, the first guide rail.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the invention is elaborated.
A kind of four-degree-of-freedom adjusting device for the section docking of rocket portion, comprise that the first guide rail 18, crossbearer are in the first guide rail 18 and the crossbeam 16 that can move along the first guide rail 18, lifting platform 3, support bracket support 4 with for supporting the arc-shaped bracket 7 of rocket portion section, the plane of motion of described crossbeam 16 is horizontal plane.
Crossbeam 16 is provided with guide roll wheel 17, guide roll wheel 17 can move along the first guide rail 18, lifting platform 3 is fixed on crossbeam 16 by elevating mechanism, elevating mechanism is two worm and gear lifts 1, lifting platform 3 is fixed in worm screw upper end, worm and gear lift 1 drives by lift handwheel 2, can make lifting platform 3 move up and down.
On the table top of lifting platform 3, be provided with the second guide rail perpendicular to the first guide rail 18, the second guide rail place plane is parallel with horizontal plane, the bottom of support bracket support 4 is provided with shifting roller 5, driving bottom bracket bearing 4 in vertical movement mechanism can move along the second guide rail by shifting roller 5, and plane of motion is vertical with horizontal plane.Vertical movement mechanism is screw-nut structure, travelling nut 13 is fixed on a side of support bracket support 4, this side is all vertical with horizontal plane with the first guide rail 18, mobile leading screw 14 is threaded connection with travelling nut 13, mobile leading screw 14 is fixed on lifting platform 3 by fixed support, and mobile leading screw 14 is driven by translation handwheel 15.By rotation translation handwheel 15, mobile screw mandrel 14 is rotated, travelling nut 13 moves on mobile leading screw 14, thereby drives support bracket support 4 to move on the second guide rail.Support bracket support 4 upper surfaces are arcuate structure, and for coordinating with arc-shaped bracket 7, support bracket support 4 upper vertical are provided with the 3rd guide rail in the first guide rail 18, and the 3rd guide rail is arcuate structure.
Arc-shaped bracket 7 bottoms are provided with support roller 12, can rotate along the 3rd guide rail at the driving arc lower bracket 7 of slew gear.Slew gear is screw-nut structure.The bottom of arc-shaped bracket 7 is provided with Y-piece 8, two fork body inner sides of Y-piece 8 are provided with the 4th guide rail, rotary nut 9 is fixed on slidably by bayonet lock 10 between two fork bodies of Y-piece 8, bayonet lock 10 is fixedly connected with rotary nut 9, bayonet lock 10 matches with the 4th guide rail, rotary nut 9 can move along the 4th guide rail by bayonet lock 10, and moving direction is consistent with the bearing of trend of two fork bodies of Y-piece 8.Revolution leading screw 11 is threaded with rotary nut 9, turns round leading screw 11 one end and is fixed on support bracket support 4 bottom surfaces, and the other end is connected with a side of support bracket support 4, and this side is the opposite face of the side that is connected with travelling nut 13.Revolution leading screw 11 is driven by turnstile 6.Revolution leading screw 11, along the 3rd guide rail direction slant setting, effectively prevents from turning round influencing each other of leading screw 11 and support roller 12 or shifting roller 5.Made to turn round leading screw 11 and rotated by rotation turnstile 6, rotary nut 9 drives arc-shaped bracket 7 to move along the 3rd guide rail, and rotary nut 9 is along the 4th guide rail movement simultaneously, thereby realizes rocket portion section rotatablely moving around the first guide rail direction.
This device when in use, rocket part to be docked is placed on arc-shaped bracket 7, by adjusting crossbeam position, elevating mechanism, vertical movement mechanism and slew gear, can realize any adjustment of rocket part on four direction, simple to operate, time saving and energy saving, improved the docking efficiency of rocket part simultaneously.
Above the invention embodiment is had been described in detail, but described content is only for the preferred embodiment of the invention, can not be considered to the practical range for limiting the invention.All equalization variation and improvement etc. of doing according to the invention application range, within all should still belonging to the patent covering scope of the invention.
Claims (9)
1. the four-degree-of-freedom adjusting device for the section docking of rocket portion, it is characterized in that: comprise that the first guide rail (18), crossbearer are in the first guide rail (18) and can be along the mobile crossbeam (16) of the first guide rail (18), lifting platform (3), support bracket support (4) with for supporting the arc-shaped bracket (7) of rocket portion section, the plane of motion of described crossbeam (16) is horizontal plane
Described lifting platform (3) is fixed on described crossbeam (16) by elevating mechanism, described support bracket support (4) is arranged on the table top of described lifting platform (3), described support bracket support (4) is driven by vertical movement mechanism can be along moving perpendicular to the direction of the first guide rail (18), the plane of motion of described support bracket support (4) is vertical with horizontal plane, the arcuate structure of described support bracket support (4) upper surface for matching with described arc-shaped bracket (7), be used for supporting described arc-shaped bracket (7), described arc-shaped bracket (7) is driven by slew gear can be around the reference axis rotation parallel with the first guide rail (18) moving direction.
2. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 1, it is characterized in that: described crossbeam (16) both sides are provided with guide rail wheel (17), guide rail wheel (17) drives crossbeam (16) mobile along described the first guide rail (18).
3. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 1, is characterized in that: described elevating mechanism is fork type elevator or worm and gear lift or realizes by cylinder.
4. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 3, is characterized in that: described elevating mechanism is worm and gear lift (1), is driven by handwheel or motor.
5. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 1, it is characterized in that: described vertical movement mechanism is screw-nut structure, travelling nut (13) is fixed on a side of described support bracket support (4), this side is all vertical with horizontal plane with described the first guide rail (18), mobile leading screw (14) is threaded with travelling nut (13), mobile leading screw (14) is fixed on described lifting platform (3) table top by fixed support, and mobile leading screw (14) is driven by handwheel or motor.
6. the four-degree-of-freedom adjusting device docking for rocket portion section according to claim 1 or 5, it is characterized in that: described support bracket support (4) has shifting roller (5), on described lifting platform (3) table top, be provided with the second guide rail perpendicular to the first guide rail (18), described the second guide rail place plane is parallel with horizontal plane, and support bracket support (4) moves on described the second guide rail by shifting roller (5).
7. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 1, it is characterized in that: described slew gear is screw-nut structure, the bottom of described arc-shaped bracket (7) is provided with Y-piece (8), described Y-piece (8) one end and described arc-shaped bracket (7) bottom surface are connected, the other end is provided with the opening being made up of two fork bodies, rotary nut (9) is located in described opening movably, revolution leading screw (11) is threaded with rotary nut (9), one end of described revolution leading screw (11) is connected with described support bracket support (4) bottom surface, the other end is connected with the side of described support bracket support (4), the opposite face of this side is travelling nut (13) connection side, revolution leading screw (11) is driven by handwheel or motor.
8. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 7, it is characterized in that: two fork body inner sides of described Y-piece (8) are provided with the 4th guide rail, described rotary nut (9) can move along the 4th guide rail by bayonet lock (10), moving direction is consistent with the bearing of trend of two fork bodies of described Y-piece (8), and bayonet lock (10) matches with the 4th guide rail.
9. the four-degree-of-freedom adjusting device for the section docking of rocket portion according to claim 8, it is characterized in that: described arc-shaped bracket (7) bottom is provided with support roller (12), the arcuate structure of described support bracket support (4) upper end is provided with the 3rd guide rail perpendicular to the first guide rail (18), and arc-shaped bracket (7) moves along described the 3rd guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410387952.3A CN104148932B (en) | 2014-08-07 | 2014-08-07 | A kind of four-degree-of-freedom adjusting apparatus for the docking of rocket section |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410387952.3A CN104148932B (en) | 2014-08-07 | 2014-08-07 | A kind of four-degree-of-freedom adjusting apparatus for the docking of rocket section |
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| Publication Number | Publication Date |
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| CN104148932A true CN104148932A (en) | 2014-11-19 |
| CN104148932B CN104148932B (en) | 2016-08-24 |
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| CN201410387952.3A Active CN104148932B (en) | 2014-08-07 | 2014-08-07 | A kind of four-degree-of-freedom adjusting apparatus for the docking of rocket section |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105172650A (en) * | 2015-09-09 | 2015-12-23 | 北京航天发射技术研究所 | Self-loading transshipping device and transshipping method for large carrier rockets |
| CN106378620A (en) * | 2016-10-14 | 2017-02-08 | 哈尔滨工业大学 | Modular automatic pick-up fitting device based on air flotation technology |
| CN106428655A (en) * | 2015-08-13 | 2017-02-22 | 贵州航天天马机电科技有限公司 | Self-adaptive propulsion mounting system for erecting frame of launch vehicle |
| CN106826180A (en) * | 2017-04-01 | 2017-06-13 | 齐骥 | A kind of manual Butt Assembling device of gas suspension |
| CN106945014A (en) * | 2017-04-17 | 2017-07-14 | 哈尔滨工业大学 | A kind of heavily loaded disassembly robot of six degree of freedom |
| CN107042785A (en) * | 2016-11-30 | 2017-08-15 | 北京特种机械研究所 | A kind of fixed mechanism for aircraft various states |
| CN109050632A (en) * | 2018-09-30 | 2018-12-21 | 中国人民解放军陆军工程大学 | Various dimensions lift cylinder bullet loading vehicle |
| CN109941376A (en) * | 2019-01-04 | 2019-06-28 | 贵州航天特种车有限责任公司 | A kind of multifunctional dolly |
| CN110562274A (en) * | 2019-09-01 | 2019-12-13 | 西安长峰机电研究所 | multi-freedom-degree rail type support transport vehicle |
| CN111006558A (en) * | 2019-12-18 | 2020-04-14 | 湖北航天技术研究院总体设计所 | Auxiliary supporting device for warhead |
| CN111023915A (en) * | 2019-11-28 | 2020-04-17 | 北京宇航系统工程研究所 | Pre-tightening structure for rotary and rapid butt joint between large-diameter sections |
| CN112139802A (en) * | 2020-09-07 | 2020-12-29 | 蓝箭航天空间科技股份有限公司 | Driving device suitable for rocket assembly |
| CN113146179A (en) * | 2021-04-20 | 2021-07-23 | 贵州航天天马机电科技有限公司 | Installation method of multi-degree-of-freedom heavy rocket cabin section butt-joint parking device |
| CN113305529A (en) * | 2021-06-07 | 2021-08-27 | 西安英利科电气科技有限公司 | Flexible butt joint structure and method for vertical assembly of medium-large rocket |
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| CN109502059A (en) * | 2018-11-15 | 2019-03-22 | 上海宇航系统工程研究所 | A kind of carrier rocket boost motor nose cone six degree of freedom docking trolley |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106428655A (en) * | 2015-08-13 | 2017-02-22 | 贵州航天天马机电科技有限公司 | Self-adaptive propulsion mounting system for erecting frame of launch vehicle |
| CN106428655B (en) * | 2015-08-13 | 2019-02-12 | 贵州航天天马机电科技有限公司 | A kind of carrier rocket plays vertical frame and adaptively pushes away dress system |
| CN105172650A (en) * | 2015-09-09 | 2015-12-23 | 北京航天发射技术研究所 | Self-loading transshipping device and transshipping method for large carrier rockets |
| CN106378620A (en) * | 2016-10-14 | 2017-02-08 | 哈尔滨工业大学 | Modular automatic pick-up fitting device based on air flotation technology |
| CN107042785B (en) * | 2016-11-30 | 2019-11-15 | 北京特种机械研究所 | A kind of fixed mechanism for aircraft various states |
| CN107042785A (en) * | 2016-11-30 | 2017-08-15 | 北京特种机械研究所 | A kind of fixed mechanism for aircraft various states |
| CN106826180A (en) * | 2017-04-01 | 2017-06-13 | 齐骥 | A kind of manual Butt Assembling device of gas suspension |
| CN106826180B (en) * | 2017-04-01 | 2019-10-25 | 齐骥 | A kind of manual Butt Assembling device of gas suspension |
| CN106945014B (en) * | 2017-04-17 | 2019-05-17 | 哈尔滨工业大学 | A kind of six degree of freedom heavy duty disassembly robot |
| CN106945014A (en) * | 2017-04-17 | 2017-07-14 | 哈尔滨工业大学 | A kind of heavily loaded disassembly robot of six degree of freedom |
| CN109050632A (en) * | 2018-09-30 | 2018-12-21 | 中国人民解放军陆军工程大学 | Various dimensions lift cylinder bullet loading vehicle |
| CN109941376A (en) * | 2019-01-04 | 2019-06-28 | 贵州航天特种车有限责任公司 | A kind of multifunctional dolly |
| CN110562274A (en) * | 2019-09-01 | 2019-12-13 | 西安长峰机电研究所 | multi-freedom-degree rail type support transport vehicle |
| CN111023915A (en) * | 2019-11-28 | 2020-04-17 | 北京宇航系统工程研究所 | Pre-tightening structure for rotary and rapid butt joint between large-diameter sections |
| CN111023915B (en) * | 2019-11-28 | 2022-04-22 | 北京宇航系统工程研究所 | Pre-tightening structure for rotary and rapid butt joint between large-diameter sections |
| CN111006558A (en) * | 2019-12-18 | 2020-04-14 | 湖北航天技术研究院总体设计所 | Auxiliary supporting device for warhead |
| CN112139802A (en) * | 2020-09-07 | 2020-12-29 | 蓝箭航天空间科技股份有限公司 | Driving device suitable for rocket assembly |
| CN113146179A (en) * | 2021-04-20 | 2021-07-23 | 贵州航天天马机电科技有限公司 | Installation method of multi-degree-of-freedom heavy rocket cabin section butt-joint parking device |
| CN113305529A (en) * | 2021-06-07 | 2021-08-27 | 西安英利科电气科技有限公司 | Flexible butt joint structure and method for vertical assembly of medium-large rocket |
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